I am working on a differential drive robot with two motor wheels with encoders and caster wheels. The robot also has an Intel RealSense depth camera.

When I launch RVIZ: The Global option > Fixed frame is set to Base_link and shows all the transforms for the differential driver nodes. But an error appears for the Depth camera nodes with message saying:

No transform from Camera_depth_frame to baselink
No transform from Camera_depth_optical_frame to baselink
No transform from Camera_rgb_frame to baselink


If I change the Global option > fixed frame to Camera_link, I can see all the transforms for the depth camera but now the differential drive transforms are not available

Hope you can help.